/*
    FreeRTOS Kernel V10.2.1
    Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.

    Permission is hereby granted, free of charge, to any person obtaining a copy of
    this software and associated documentation files (the "Software"), to deal in
    the Software without restriction, including without limitation the rights to
    use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
    the Software, and to permit persons to whom the Software is furnished to do so,
    subject to the following conditions:

    The above copyright notice and this permission notice shall be included in all
    copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
    FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
    COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
    IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
    CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

    http://www.FreeRTOS.org
    http://aws.amazon.com/freertos

    1 tab == 4 spaces!
*/

#ifndef CO_ROUTINE_H
#define CO_ROUTINE_H

#ifndef INC_FREERTOS_H
    #error "include FreeRTOS.h must appear in source files before include croutine.h"
#endif

#include "list.h"

#ifdef __cplusplus
extern "C" {
#endif

/*  Used to hide the implementation of the co-routine control block.  The
    control block structure however has to be included in the header due to
    the macro implementation of the co-routine functionality. */
typedef void* CoRoutineHandle_t;

/* Defines the prototype to which co-routine functions must conform. */
typedef void (*crCOROUTINE_CODE)(CoRoutineHandle_t, UBaseType_t);

typedef struct corCoRoutineControlBlock {
    crCOROUTINE_CODE 	pxCoRoutineFunction;
    ListItem_t			xGenericListItem;	/*< List item used to place the CRCB in ready and blocked queues. */
    ListItem_t			xEventListItem;		/*< List item used to place the CRCB in event lists. */
    UBaseType_t 		uxPriority;			/*< The priority of the co-routine in relation to other co-routines. */
    UBaseType_t
    uxIndex;			/*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
    uint16_t 			uxState;			/*< Used internally by the co-routine implementation. */
} CRCB_t; /* Co-routine control block.  Note must be identical in size down to uxPriority with TCB_t. */

/**
    croutine. h
    <pre>
    BaseType_t xCoRoutineCreate(
                                 crCOROUTINE_CODE pxCoRoutineCode,
                                 UBaseType_t uxPriority,
                                 UBaseType_t uxIndex
                               );</pre>

    Create a new co-routine and add it to the list of co-routines that are
    ready to run.

    @param pxCoRoutineCode Pointer to the co-routine function.  Co-routine
    functions require special syntax - see the co-routine section of the WEB
    documentation for more information.

    @param uxPriority The priority with respect to other co-routines at which
    the co-routine will run.

    @param uxIndex Used to distinguish between different co-routines that
    execute the same function.  See the example below and the co-routine section
    of the WEB documentation for further information.

    @return pdPASS if the co-routine was successfully created and added to a ready
    list, otherwise an error code defined with ProjDefs.h.

    Example usage:
    <pre>
    // Co-routine to be created.
    void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    // Variables in co-routines must be declared static if they must maintain value across a blocking call.
    // This may not be necessary for const variables.
    static const char cLedToFlash[ 2 ] = { 5, 6 };
    static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };

     // Must start every co-routine with a call to crSTART();
     crSTART( xHandle );

     for( ;; )
     {
         // This co-routine just delays for a fixed period, then toggles
         // an LED.  Two co-routines are created using this function, so
         // the uxIndex parameter is used to tell the co-routine which
         // LED to flash and how int32_t to delay.  This assumes xQueue has
         // already been created.
         vParTestToggleLED( cLedToFlash[ uxIndex ] );
         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
     }

     // Must end every co-routine with a call to crEND();
     crEND();
    }

    // Function that creates two co-routines.
    void vOtherFunction( void )
    {
    uint8_t ucParameterToPass;
    TaskHandle_t xHandle;

     // Create two co-routines at priority 0.  The first is given index 0
     // so (from the code above) toggles LED 5 every 200 ticks.  The second
     // is given index 1 so toggles LED 6 every 400 ticks.
     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
     {
         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
     }
    }
    </pre>
    \defgroup xCoRoutineCreate xCoRoutineCreate
    \ingroup Tasks
*/
BaseType_t xCoRoutineCreate(crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex);


/**
    croutine. h
    <pre>
    void vCoRoutineSchedule( void );</pre>

    Run a co-routine.

    vCoRoutineSchedule() executes the highest priority co-routine that is able
    to run.  The co-routine will execute until it either blocks, yields or is
    preempted by a task.  Co-routines execute cooperatively so one
    co-routine cannot be preempted by another, but can be preempted by a task.

    If an application comprises of both tasks and co-routines then
    vCoRoutineSchedule should be called from the idle task (in an idle task
    hook).

    Example usage:
    <pre>
    // This idle task hook will schedule a co-routine each time it is called.
    // The rest of the idle task will execute between co-routine calls.
    void vApplicationIdleHook( void )
    {
	vCoRoutineSchedule();
    }

    // Alternatively, if you do not require any other part of the idle task to
    // execute, the idle task hook can call vCoRoutineScheduler() within an
    // infinite loop.
    void vApplicationIdleHook( void )
    {
    for( ;; )
    {
        vCoRoutineSchedule();
    }
    }
    </pre>
    \defgroup vCoRoutineSchedule vCoRoutineSchedule
    \ingroup Tasks
*/
void vCoRoutineSchedule(void);

/**
    croutine. h
    <pre>
    crSTART( CoRoutineHandle_t xHandle );</pre>

    This macro MUST always be called at the start of a co-routine function.

    Example usage:
    <pre>
    // Co-routine to be created.
    void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    // Variables in co-routines must be declared static if they must maintain value across a blocking call.
    static int32_t ulAVariable;

     // Must start every co-routine with a call to crSTART();
     crSTART( xHandle );

     for( ;; )
     {
          // Co-routine functionality goes here.
     }

     // Must end every co-routine with a call to crEND();
     crEND();
    }</pre>
    \defgroup crSTART crSTART
    \ingroup Tasks
*/
#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:

/**
    croutine. h
    <pre>
    crEND();</pre>

    This macro MUST always be called at the end of a co-routine function.

    Example usage:
    <pre>
    // Co-routine to be created.
    void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    // Variables in co-routines must be declared static if they must maintain value across a blocking call.
    static int32_t ulAVariable;

     // Must start every co-routine with a call to crSTART();
     crSTART( xHandle );

     for( ;; )
     {
          // Co-routine functionality goes here.
     }

     // Must end every co-routine with a call to crEND();
     crEND();
    }</pre>
    \defgroup crSTART crSTART
    \ingroup Tasks
*/
#define crEND() }

/*
    These macros are intended for internal use by the co-routine implementation
    only.  The macros should not be used directly by application writers.
*/
#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):

/**
    croutine. h
    <pre>
    crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>

    Delay a co-routine for a fixed period of time.

    crDELAY can only be called from the co-routine function itself - not
    from within a function called by the co-routine function.  This is because
    co-routines do not maintain their own stack.

    @param xHandle The handle of the co-routine to delay.  This is the xHandle
    parameter of the co-routine function.

    @param xTickToDelay The number of ticks that the co-routine should delay
    for.  The actual amount of time this equates to is defined by
    configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant portTICK_PERIOD_MS
    can be used to convert ticks to milliseconds.

    Example usage:
    <pre>
    // Co-routine to be created.
    void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    // Variables in co-routines must be declared static if they must maintain value across a blocking call.
    // This may not be necessary for const variables.
    // We are to delay for 200ms.
    static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;

     // Must start every co-routine with a call to crSTART();
     crSTART( xHandle );

     for( ;; )
     {
        // Delay for 200ms.
        crDELAY( xHandle, xDelayTime );

        // Do something here.
     }

     // Must end every co-routine with a call to crEND();
     crEND();
    }</pre>
    \defgroup crDELAY crDELAY
    \ingroup Tasks
*/
#define crDELAY( xHandle, xTicksToDelay )												\
    if( ( xTicksToDelay ) > 0 )															\
    {																					\
        vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL );							\
    }																					\
    crSET_STATE0( ( xHandle ) );

/**
    <pre>
    crQUEUE_SEND(
                  CoRoutineHandle_t xHandle,
                  QueueHandle_t pxQueue,
                  void *pvItemToQueue,
                  TickType_t xTicksToWait,
                  BaseType_t *pxResult
             )</pre>

    The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
    equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.

    crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
    xQueueSend() and xQueueReceive() can only be used from tasks.

    crQUEUE_SEND can only be called from the co-routine function itself - not
    from within a function called by the co-routine function.  This is because
    co-routines do not maintain their own stack.

    See the co-routine section of the WEB documentation for information on
    passing data between tasks and co-routines and between ISR's and
    co-routines.

    @param xHandle The handle of the calling co-routine.  This is the xHandle
    parameter of the co-routine function.

    @param pxQueue The handle of the queue on which the data will be posted.
    The handle is obtained as the return value when the queue is created using
    the xQueueCreate() API function.

    @param pvItemToQueue A pointer to the data being posted onto the queue.
    The number of bytes of each queued item is specified when the queue is
    created.  This number of bytes is copied from pvItemToQueue into the queue
    itself.

    @param xTickToDelay The number of ticks that the co-routine should block
    to wait for space to become available on the queue, should space not be
    available immediately. The actual amount of time this equates to is defined
    by configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant
    portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
    below).

    @param pxResult The variable pointed to by pxResult will be set to pdPASS if
    data was successfully posted onto the queue, otherwise it will be set to an
    error defined within ProjDefs.h.

    Example usage:
    <pre>
    // Co-routine function that blocks for a fixed period then posts a number onto
    // a queue.
    static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    // Variables in co-routines must be declared static if they must maintain value across a blocking call.
    static BaseType_t xNumberToPost = 0;
    static BaseType_t xResult;

    // Co-routines must begin with a call to crSTART().
    crSTART( xHandle );

    for( ;; )
    {
        // This assumes the queue has already been created.
        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );

        if( xResult != pdPASS )
        {
            // The message was not posted!
        }

        // Increment the number to be posted onto the queue.
        xNumberToPost++;

        // Delay for 100 ticks.
        crDELAY( xHandle, 100 );
    }

    // Co-routines must end with a call to crEND().
    crEND();
    }</pre>
    \defgroup crQUEUE_SEND crQUEUE_SEND
    \ingroup Tasks
*/
#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult )			\
    {																						\
        *( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) );	\
        if( *( pxResult ) == errQUEUE_BLOCKED )												\
        {																					\
            crSET_STATE0( ( xHandle ) );													\
            *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 );					\
        }																					\
        if( *pxResult == errQUEUE_YIELD )													\
        {																					\
            crSET_STATE1( ( xHandle ) );													\
            *pxResult = pdPASS;																\
        }																					\
    }

/**
    croutine. h
    <pre>
    crQUEUE_RECEIVE(
                     CoRoutineHandle_t xHandle,
                     QueueHandle_t pxQueue,
                     void *pvBuffer,
                     TickType_t xTicksToWait,
                     BaseType_t *pxResult
                 )</pre>

    The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
    equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.

    crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
    xQueueSend() and xQueueReceive() can only be used from tasks.

    crQUEUE_RECEIVE can only be called from the co-routine function itself - not
    from within a function called by the co-routine function.  This is because
    co-routines do not maintain their own stack.

    See the co-routine section of the WEB documentation for information on
    passing data between tasks and co-routines and between ISR's and
    co-routines.

    @param xHandle The handle of the calling co-routine.  This is the xHandle
    parameter of the co-routine function.

    @param pxQueue The handle of the queue from which the data will be received.
    The handle is obtained as the return value when the queue is created using
    the xQueueCreate() API function.

    @param pvBuffer The buffer into which the received item is to be copied.
    The number of bytes of each queued item is specified when the queue is
    created.  This number of bytes is copied into pvBuffer.

    @param xTickToDelay The number of ticks that the co-routine should block
    to wait for data to become available from the queue, should data not be
    available immediately. The actual amount of time this equates to is defined
    by configTICK_RATE_HZ (set in FreeRTOSConfig.h).  The constant
    portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
    crQUEUE_SEND example).

    @param pxResult The variable pointed to by pxResult will be set to pdPASS if
    data was successfully retrieved from the queue, otherwise it will be set to
    an error code as defined within ProjDefs.h.

    Example usage:
    <pre>
    // A co-routine receives the number of an LED to flash from a queue.  It
    // blocks on the queue until the number is received.
    static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    // Variables in co-routines must be declared static if they must maintain value across a blocking call.
    static BaseType_t xResult;
    static UBaseType_t uxLEDToFlash;

    // All co-routines must start with a call to crSTART().
    crSTART( xHandle );

    for( ;; )
    {
        // Wait for data to become available on the queue.
        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );

        if( xResult == pdPASS )
        {
            // We received the LED to flash - flash it!
            vParTestToggleLED( uxLEDToFlash );
        }
    }

    crEND();
    }</pre>
    \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
    \ingroup Tasks
*/
#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult )			\
    {																						\
        *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) );		\
        if( *( pxResult ) == errQUEUE_BLOCKED ) 											\
        {																					\
            crSET_STATE0( ( xHandle ) );													\
            *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 );				\
        }																					\
        if( *( pxResult ) == errQUEUE_YIELD )												\
        {																					\
            crSET_STATE1( ( xHandle ) );													\
            *( pxResult ) = pdPASS;															\
        }																					\
    }

/**
    croutine. h
    <pre>
    crQUEUE_SEND_FROM_ISR(
                            QueueHandle_t pxQueue,
                            void *pvItemToQueue,
                            BaseType_t xCoRoutinePreviouslyWoken
                       )</pre>

    The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
    co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
    functions used by tasks.

    crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
    pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
    xQueueReceiveFromISR() can only be used to pass data between a task and and
    ISR.

    crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
    that is being used from within a co-routine.

    See the co-routine section of the WEB documentation for information on
    passing data between tasks and co-routines and between ISR's and
    co-routines.

    @param xQueue The handle to the queue on which the item is to be posted.

    @param pvItemToQueue A pointer to the item that is to be placed on the
    queue.  The size of the items the queue will hold was defined when the
    queue was created, so this many bytes will be copied from pvItemToQueue
    into the queue storage area.

    @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
    the same queue multiple times from a single interrupt.  The first call
    should always pass in pdFALSE.  Subsequent calls should pass in
    the value returned from the previous call.

    @return pdTRUE if a co-routine was woken by posting onto the queue.  This is
    used by the ISR to determine if a context switch may be required following
    the ISR.

    Example usage:
    <pre>
    // A co-routine that blocks on a queue waiting for characters to be received.
    static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    char cRxedChar;
    BaseType_t xResult;

     // All co-routines must start with a call to crSTART().
     crSTART( xHandle );

     for( ;; )
     {
         // Wait for data to become available on the queue.  This assumes the
         // queue xCommsRxQueue has already been created!
         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );

         // Was a character received?
         if( xResult == pdPASS )
         {
             // Process the character here.
         }
     }

     // All co-routines must end with a call to crEND().
     crEND();
    }

    // An ISR that uses a queue to send characters received on a serial port to
    // a co-routine.
    void vUART_ISR( void )
    {
    char cRxedChar;
    BaseType_t xCRWokenByPost = pdFALSE;

     // We loop around reading characters until there are none left in the UART.
     while( UART_RX_REG_NOT_EMPTY() )
     {
         // Obtain the character from the UART.
         cRxedChar = UART_RX_REG;

         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
         // the first time around the loop.  If the post causes a co-routine
         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
         // In this manner we can ensure that if more than one co-routine is
         // blocked on the queue only one is woken by this ISR no matter how
         // many characters are posted to the queue.
         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
     }
    }</pre>
    \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
    \ingroup Tasks
*/
#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )


/**
    croutine. h
    <pre>
    crQUEUE_SEND_FROM_ISR(
                            QueueHandle_t pxQueue,
                            void *pvBuffer,
                            BaseType_t * pxCoRoutineWoken
                       )</pre>

    The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
    co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
    functions used by tasks.

    crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
    pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
    xQueueReceiveFromISR() can only be used to pass data between a task and and
    ISR.

    crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
    from a queue that is being used from within a co-routine (a co-routine
    posted to the queue).

    See the co-routine section of the WEB documentation for information on
    passing data between tasks and co-routines and between ISR's and
    co-routines.

    @param xQueue The handle to the queue on which the item is to be posted.

    @param pvBuffer A pointer to a buffer into which the received item will be
    placed.  The size of the items the queue will hold was defined when the
    queue was created, so this many bytes will be copied from the queue into
    pvBuffer.

    @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
    available on the queue.  If crQUEUE_RECEIVE_FROM_ISR causes such a
    co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
 * *pxCoRoutineWoken will remain unchanged.

    @return pdTRUE an item was successfully received from the queue, otherwise
    pdFALSE.

    Example usage:
    <pre>
    // A co-routine that posts a character to a queue then blocks for a fixed
    // period.  The character is incremented each time.
    static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
    {
    // cChar holds its value while this co-routine is blocked and must therefore
    // be declared static.
    static char cCharToTx = 'a';
    BaseType_t xResult;

     // All co-routines must start with a call to crSTART().
     crSTART( xHandle );

     for( ;; )
     {
         // Send the next character to the queue.
         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );

         if( xResult == pdPASS )
         {
             // The character was successfully posted to the queue.
         }
		 else
		 {
			// Could not post the character to the queue.
		 }

         // Enable the UART Tx interrupt to cause an interrupt in this
		 // hypothetical UART.  The interrupt will obtain the character
		 // from the queue and send it.
		 ENABLE_RX_INTERRUPT();

		 // Increment to the next character then block for a fixed period.
		 // cCharToTx will maintain its value across the delay as it is
		 // declared static.
		 cCharToTx++;
		 if( cCharToTx > 'x' )
		 {
			cCharToTx = 'a';
		 }
		 crDELAY( 100 );
     }

     // All co-routines must end with a call to crEND().
     crEND();
    }

    // An ISR that uses a queue to receive characters to send on a UART.
    void vUART_ISR( void )
    {
    char cCharToTx;
    BaseType_t xCRWokenByPost = pdFALSE;

     while( UART_TX_REG_EMPTY() )
     {
         // Are there any characters in the queue waiting to be sent?
		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
		 // is woken by the post - ensuring that only a single co-routine is
		 // woken no matter how many times we go around this loop.
         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
		 {
			 SEND_CHARACTER( cCharToTx );
		 }
     }
    }</pre>
    \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
    \ingroup Tasks
*/
#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )

/*
    This function is intended for internal use by the co-routine macros only.
    The macro nature of the co-routine implementation requires that the
    prototype appears here.  The function should not be used by application
    writers.

    Removes the current co-routine from its ready list and places it in the
    appropriate delayed list.
*/
void vCoRoutineAddToDelayedList(TickType_t xTicksToDelay, List_t* pxEventList);

/*
    This function is intended for internal use by the queue implementation only.
    The function should not be used by application writers.

    Removes the highest priority co-routine from the event list and places it in
    the pending ready list.
*/
BaseType_t xCoRoutineRemoveFromEventList(const List_t* pxEventList);

#ifdef __cplusplus
}
#endif

#endif /* CO_ROUTINE_H */
